I currently have a new Iphone XR with the IOS 13.1.2 and new Forester limited. To date, after multiple pairing via Bluetooth, I still have not been able transfer my contact list. I checked earlier tags but none of been successful.
I usually do a factory reset when I have that issue you can go to the settings and scroll all the way down and find where it says factory reset, that should work for you to download contacts also make sure when you are re pairing the phone again allow contacts to download as its asking you. Make sure you forget device first and pair again.